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Laser vision seam tracking system based on image processing and continuous convolution operator tracker
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DOI：10.1016/j.optlaseng.2018.01.008.png)
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Abstract
En 中文
To address the problem of low welding precision caused by the poor real-time tracking performance of common welding robots, a novel seam tracking system with excellent real-time tracking performance and high accuracy is designed based on the morphological image processing method and continuous convolution operator tracker (CCOT) object tracking algorithm. The system consists of a six-axis welding robot, a line laser sensor, and an industrial computer. This work also studies the measurement principle involved in the designed system. Through the CCOT algorithm, the weld feature points are determined in real time from the noise image during the welding process, and the 3D coordinate values of these points are obtained according to the measurement principle to control the movement of the robot and the torch in real time. Experimental results show that the sensor has a frequency of 50 Hz. The welding torch runs smoothly with a strong arc light and splash interference. Tracking error can reach +/- 0.2 mm, and the minimal distance between the laser stripe and the welding molten pool can reach 15 mm, which can significantly fulfill actual welding requirements. (C) 2018 Elsevier Ltd. All rights reserved.
Keywords:
Seam tracking
Morphological image processing
CCOT object tracking algorithm
Line laser sensor
Welding robot
Weld feature point
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